/* 
 * File:   Brazo.c
 * Author: bryan
 *
 * Created on 12 de agosto de 2014, 14:56
 */

#include <stdio.h>
#include <stdlib.h>
#include <p18f2550.h>
#include <xc.h>
#include <plib/delays.h>
#define Mot1 PORTCbits.RC0
#define Mot2 PORTCbits.RC1
#define Mot3 PORTCbits.RC2
#define Mot4 PORTCbits.RC4
#pragma config PLLDIV = 1       // PLL Prescaler Selection bits (No prescale (4 MHz oscillator input drives PLL directly))
#pragma config CPUDIV = OSC1_PLL2// System Clock Postscaler Selection bits ([Primary Oscillator Src: /1][96 MHz PLL Src: /2])
#pragma config USBDIV = 1       // USB Clock Selection bit (used in Full-Speed USB mode only; UCFG:FSEN = 1) (USB clock source comes directly from the primary oscillator block with no postscale)
#pragma config FOSC = XT_XT     // Oscillator Selection bits (XT oscillator (XT))
#pragma config FCMEN = OFF      // Fail-Safe Clock Monitor Enable bit (Fail-Safe Clock Monitor disabled)
#pragma config IESO = OFF       // Internal/External Oscillator Switchover bit (Oscillator Switchover mode disabled)
#pragma config PWRT = OFF       // Power-up Timer Enable bit (PWRT disabled)
#pragma config BOR = OFF        // Brown-out Reset Enable bits (Brown-out Reset disabled in hardware and software)
#pragma config BORV = 3         // Brown-out Reset Voltage bits (Minimum setting)
#pragma config VREGEN = OFF     // USB Voltage Regulator Enable bit (USB voltage regulator disabled)
#pragma config WDT = OFF        // Watchdog Timer Enable bit (WDT disabled (control is placed on the SWDTEN bit))
#pragma config WDTPS = 32768    // Watchdog Timer Postscale Select bits (1:32768)
#pragma config CCP2MX = OFF     // CCP2 MUX bit (CCP2 input/output is multiplexed with RB3)
#pragma config PBADEN = OFF     // PORTB A/D Enable bit (PORTB<4:0> pins are configured as digital I/O on Reset)
#pragma config LPT1OSC = OFF    // Low-Power Timer 1 Oscillator Enable bit (Timer1 configured for higher power operation)
#pragma config MCLRE = ON       // MCLR Pin Enable bit (MCLR pin enabled; RE3 input pin disabled)
#pragma config STVREN = OFF     // Stack Full/Underflow Reset Enable bit (Stack full/underflow will not cause Reset)
#pragma config LVP = OFF        // Single-Supply ICSP Enable bit (Single-Supply ICSP disabled)
#pragma config XINST = OFF      // Extended Instruction Set Enable bit (Instruction set extension and Indexed Addressing mode disabled (Legacy mode))
#pragma config CP0 = OFF        // Code Protection bit (Block 0 (000800-001FFFh) is not code-protected)
#pragma config CP1 = OFF        // Code Protection bit (Block 1 (002000-003FFFh) is not code-protected)
#pragma config CP2 = OFF        // Code Protection bit (Block 2 (004000-005FFFh) is not code-protected)
#pragma config CP3 = OFF        // Code Protection bit (Block 3 (006000-007FFFh) is not code-protected)
#pragma config CPB = OFF        // Boot Block Code Protection bit (Boot block (000000-0007FFh) is not code-protected)
#pragma config CPD = OFF        // Data EEPROM Code Protection bit (Data EEPROM is not code-protected)
#pragma config WRT0 = OFF       // Write Protection bit (Block 0 (000800-001FFFh) is not write-protected)
#pragma config WRT1 = OFF       // Write Protection bit (Block 1 (002000-003FFFh) is not write-protected)
#pragma config WRT2 = OFF       // Write Protection bit (Block 2 (004000-005FFFh) is not write-protected)
#pragma config WRT3 = OFF       // Write Protection bit (Block 3 (006000-007FFFh) is not write-protected)
#pragma config WRTC = OFF       // Configuration Register Write Protection bit (Configuration registers (300000-3000FFh) are not write-protected)
#pragma config WRTB = OFF       // Boot Block Write Protection bit (Boot block (000000-0007FFh) is not write-protected)
#pragma config WRTD = OFF       // Data EEPROM Write Protection bit (Data EEPROM is not write-protected)
#pragma config EBTR0 = OFF      // Table Read Protection bit (Block 0 (000800-001FFFh) is not protected from table reads executed in other blocks)
#pragma config EBTR1 = OFF      // Table Read Protection bit (Block 1 (002000-003FFFh) is not protected from table reads executed in other blocks)
#pragma config EBTR2 = OFF      // Table Read Protection bit (Block 2 (004000-005FFFh) is not protected from table reads executed in other blocks)
#pragma config EBTR3 = OFF      // Table Read Protection bit (Block 3 (006000-007FFFh) is not protected from table reads executed in other blocks)
#pragma config EBTRB = OFF      // Boot Block Table Read Protection bit (Boot block (000000-0007FFh) is not protected from table reads executed in other blocks)
/*
 * 
 */
int a=0;
void main() {
    TRISC=0, TRISB=240;
    int angulo= 0, b=0;
    ADCON1=15;
    while (1) {
        b=teclado();
        if(b==1){
            a=a+3;
            Mot1=1;
            Delay10TCYx(100+a);
            Mot1=0;
            Delay10KTCYx(5);
            
        }
        if(b==4){
            a=a-3;
            Mot1=1;
            Delay10TCYx(100+a);
            Mot1=0;
            Delay1KTCYx(5);
        }
        if(b==2){
            a=a+3;
            Mot2=1;
            Delay10TCYx(100+a);
            Mot2=0;
            Delay10KTCYx(5);
        }
        if(b==5){
            a=a-3;
            Mot2=1;
            Delay10TCYx(100+a);
            Mot2=0;
            Delay10KTCYx(5);
        }
        if(b==3){
            a=a+3;
            Mot3=1;
            Delay10TCYx(100+a);
            Mot3=0;
            Delay10KTCYx(5);
        }
        if(b==6){
            a=a-3;
            Mot3=1;
            Delay10TCYx(100+a);
            Mot3=0;
            Delay10KTCYx(5);
        }if(b==10){
            a=a+3;
            Mot4=1;
            Delay10TCYx(100+a);
            Mot4=0;
            Delay10KTCYx(5);
        }
        if(b==11){
            a=a-3;
            Mot4=1;
            Delay10TCYx(100+a);
            Mot4=0;
            Delay10KTCYx(5);
        }
    }
}
int teclado(void){
    while(1){
      PORTB=1;//Colocamos el pin RD0 en alto y retornamos cierto valor si se recibe un uno en determinado pin
      if(PORTBbits.RB4==1)
      { return 1;}
      else if(PORTBbits.RB5==1)
      { return 2;}
      else if(PORTBbits.RB6==1)
      { return 3;}
      else if(PORTBbits.RB7==1)
      { return 10;}
      PORTB=2;//Colocamos el pin RD2 en alto y retornamos cierto valor si se recive un uno en determinado pin
      if(PORTBbits.RB4==1){ return 4;}
      else if(PORTBbits.RB5==1){ return 5;}
      else if(PORTBbits.RB6==1){ return 6;}
      else if(PORTBbits.RB7==1){return 11;}
      PORTB=4;//Colocamos el pin RD4 en alto y retornamos cierto valor si se recive un uno en determinado pin
      if(PORTBbits.RB4==1){ return 7;}
      else if(PORTBbits.RB5==1){ return 8;}
      else if(PORTBbits.RB6==1){return 9;}
      else if(PORTBbits.RB7==1){return 12;}
      PORTB=8;//Colocamos el pin RD8 en alto y retornamos cierto valor si se recive un uno en determinado pin
      if(PORTBbits.RB4==1){return 13;}
      else if(PORTBbits.RB5==1){ return 0;}
      else if(PORTBbits.RB6==1){ return 14;}
      else if(PORTBbits.RB7==1){ return 15;}
      else return 16;
    }
}
//int horaio( int grados){
//     int angulo = 0, t = 0;
//     angulo+ = grados;
//     t = teclado();
//     switch  (angulo){
//            case 90:
//            {
//                Mot1=1;
//                Delay1KTCYx(2);
//                Mot1=0;
//                Delay1KTCYx(18);
//            }
//            break;
//            case 180:
//            {
//                Mot1=1;
//                Delay1KTCYx(1);
//                Mot1=0;
//                Delay1KTCYx(19);
//            }
//            break;
//            default:("error");
//    }
//    return grados;
//}



